Calibrating to Your Robot

By default the simulator uses a typical drive for your motors and wheels. Calibrating makes it speed up, turn, slip, and stop like your robot. It's optional.

1. On the robot, run the Drive Calibration auton (calibrateDrive()) with about 4 ft clear on every side. It takes about 15 seconds and saves rw_drive_log.csv to the SD card. Without an SD card, it prints the log to the terminal; save that as the file

2. Copy rw_drive_log.csv from the SD card into the project folder, then run:

   sh sim/fit-profile.sh rw_drive_log.csv
   

It writes sim/robot-profile.txt, and the simulator uses it from then on. Use --no-profile to compare with the default robot, or --profile FILE for another robot.

• It measures friction, speed per volt, motor lag, the motors' acceleration limit, braking and coasting, and turning scrub (from the IMU)
• With both tracking wheels, it also measures wheel slip, the grip limit, and sideways skid. Without them, those stay at typical values
• Tiles, batteries and wheels change, and recalibrating only takes 15 seconds